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PANdrive™ for Stepper

PANDRIVE™

PD42-1241 CANopen

Firmware Manual

Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03

The PD42-1241 is a full mechatronic solution, made up of a TMCM-1241 stepper control module and

a NEMA 17 (42mm ﬂange size) motor. The PD42-1241 CANopen

ﬁrmware allows to control the

module using the CANopen

protocol, making use of the Trinamic TMC5160 motion controller and

motor driver. Dynamic current control, and quiet, smooth and eﬃcient operation are combined

with stealthChop™, dcStep™, stallGuard™ and coolStep™ features.

Features

• Single axis Stepper Motor Control

• CANopen

CiA-402 Drive Proﬁle

• coolStep™

• dcStep™

• stallGuard2™

• stealthChop™

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

…

V DC

ARM

Cortex

microcontroller

EEPROM

485

MOSFET

Driver

Stage

Energy Efficient

Driver

TMC

262

Motion

Controller

Pre

Driver

SPI

USB

SPI

CAN

sensOstep™

Encoder

SPI

STOP

Encoder

Step

Motor

1241

QSH

4218

040

TMCM

1241

QSH

4218

080

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (117 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper PD42-1241 CANopen® Firmware Manual Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 The PD42-1241 is a full mechatronic solution, made up of a TMCM-1241 stepper control module and a NEMA 17 (42mm ﬂange size) motor. The PD42-1241 CANopen® ﬁrmware allows to control the module using the CANopen® protocol, making use of the Trinamic TMC5160 motion controller and motor driver.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 2 / 117 Contents 1 Preface 1.1 General Features of this CANopen Implementation . . . . 1.2 Abbreviations used in this Manual . . . . . . . . . . . . . . 1.3 Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . 1.4 Trinamic’s unique Features — easy to use with CANopen 1.4.1 stallGuard2 . . . . . . . . . . . . . . . . . . . . . . . 1.4.2 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4.2.13 4.2.14 4.2.15 4.2.16 4.2.17 4.2.18 4.2.19 4.2.20 4.2.21 4.2.22 4.2.23 4.2.24 4.2.25 4.2.26 4.2.27 4.2.28 4.2.29 4.2.30 4.2.31 4.2.32 4.2.33 4.2.34 4.2.35 4.2.36 4.2.37 4.2.38 4.2.39 4.2.40 4.2.41 4.2.42 4.2.43 4.2.44 4.2.45 4.2.46 4.2.47 4.2.48 4.2.49 4.2.50 4.2.51 4.2.52 4.2.53 4.2.54 4.2.55 4.2.56 4.2.57 4.2.58 4.2.59 4.2.60 4.2.61 Object 2013h : Proﬁle D1 . . . . . . . . . . . . . .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4 / 117 5 Proﬁle speciﬁc Area 5.1 Detailed Object Speciﬁcations . . . . . . . . . . . . . . 5.1.1 Object 605Ah : Quick Stop Option Code . . . . 5.1.2 Object 605Bh : Shutdown Option Code . . . . 5.1.3 Object 605Ch : Disable Operation Option Code 5.1.4 Object 605Dh : Halt Option Code . . . . . . . . 5.1.5 Object 605Eh : Fault Reaction Option Code . . 5.1.6 Object 6060h : Modes of Operation . . . . . . . 5.1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 5 / 117 8 Homing Mode 8.1 Homing Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1.1 Homing Method 1: Homing on negative Limit Switch and Index Pulse . 8.1.2 Homing Method 2: Homing on positive Limit Switch and Index Pulse . 8.1.3 Homing Method 3: Homing on positive Home Switch and Index Pulse . 8.1.4 Homing Method 5: Homing on negative Home Switch and Index Pulse 8.1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 1 6 / 117 Preface This document speciﬁes objects and modes of operation of the Trinamic PD42-1241 stepper motor control module with CANopen ﬁrmware. The CANopen ﬁrmware is designed to fulﬁll the CANopen DS402 and DS301 standards. This manual assumes that the reader is already familiar with the basics of the CANopen protocol, deﬁned by the DS301 and DS402 standards of the CAN-CiA.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 7 / 117 Further Characteristics • SYNC: consumer (TPDOs 3 are synchronous PDOs) • Emergency: producer • RTR: supported only for node guarding/life guarding • Heartbeat: consumer and producer 1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 1.4 1.4.1 8 / 117 Trinamic’s unique Features — easy to use with CANopen stallGuard2 stallGuard2 is a high-precision sensorless load measurement using the back EMF of the coils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 0,9 Efficiency with coolStep 0,8 Efficiency with 50v torque reserve 0,7 0,6 0,5 Efficiency 0,4 0,3 0,2 0,1 0 0 50 100 150 200 250 300 350 Velocity [RPM] Figure 2: Energy Eﬃciency Example with coolStep ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 2 2.1 10 / 117 Communication Reference Model The application layer comprises a concept to conﬁgure and communicate real-time-data as well as the mechanisms for synchronization between devices. The functionality which the application layer offers to an application is logically divided over different service data objects (SDO) in the application layer.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 11 / 117 Service Types Type Deﬁnition Local service Involves only the local service object. The application issues a request to its local service object that executes the requested service without communicating with peer service object(s). Unconﬁrmed service Involves one or more peer service objects. The application issues a request to its local service object.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 2.2 12 / 117 NMT State Machine The ﬁnite state machine (FSM) or simply state machine is a model of behavior composed of a ﬁnite number of states, transitions between those states, and actions. It shows which way the logic runs when certain conditions are met. Starting and resetting the device is controlled via the state machine. The NMT state machine consists of the states shown in ﬁgure 3.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 13 / 117 CANopen device profile CiA DSP 402 Modes of operation: Profile Position (pp) Profile Velocity (pv) Homing (hm) ... Device control state machine CANopen Communication Profile CiA DS301 NMT State Machine CAN Figure 4: Communication Architecture 2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 14 / 117 Application Communication Object dictionary State machine Application object Entry 1 Entry 2 Communication object Communication object Application object Communication object Application object Entry n Application object Communication object Bus system Process Figure 5: Device Model 2.4 Object Dictionary The most important part of a device proﬁle is the object dictionary description.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 15 / 117 The communication proﬁle area at indices 1000h through 1FFFh contains the communication speciﬁc parameters for the CAN network. These entries are common to all devices. The manufacturer segment at indices 2000h through 5FFFh contains manufacturer speciﬁc objects. These objects control the special features of the Trinamic PD42-1241 motion control device.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 3 16 / 117 Communication Area The communication area contains all objects that deﬁne the communication parameters of the CANopen device according to the DS301 standard. 3.1 Detailed Object Speciﬁcations 3.1.1 Object 1000h : Device Type This object contains information about the device type. The object 1000h describes the type of device and its functionality.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 17 / 117 Error Register Bits Bit Deﬁnition 0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error 5 Device proﬁle speciﬁc 6 Reserved (always 0) 7 Manufacturer speciﬁc Table 9: Error Register Bits 3.1.3 Object 1005h : COB-ID SYNC Message This object deﬁnes the COB-ID of the synchronization object (SYNC). Further, it deﬁnes whether the module generates the SYNC.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 3.1.4 Object 1008h : Manufacturer Device Name This object contains the name of the device as given by the manufacturer.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 19 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no — Depends on device, e.g. 1.0. Table 18: Entry Description (100Ah ) 3.1.7 Object 100Ch : Guard Time The objects at index 100Ch and 100Dh shall indicate the conﬁgured guard time respectively the life time factor.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 20 / 117 There are several parameter groups: • Sub-index 0h : contains the largest sub-index that is supported. • Sub-index 1h : saves all parameters. • Sub-index 2h : saves communication parameters 100Ch , 100Dh , 1015h , 1017h , and 1029h . • Sub-index 3h : saves device proﬁle parameters. • Sub-index 4h : saves motor 0 parameters.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 3.1.10 21 / 117 Object 1011h : Restore Parameters With this object the default values of parameters according to the communication or device proﬁle are restored. By read access the device provides information about its capabilities to restore these values. There are several parameter groups: • Sub-index 0h : contains the largest sub-index that is supported. • Sub-index 1h : restores all parameters.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 22 / 117 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 01h Restore all parameters rw no UNSIGNED32 — 02h Restore communication parameters rw no UNSIGNED32 — 03h Restore device proﬁle parameters rw no UNSIGNED32 — 04h Restore motor axis 0 parameters rw no UNSIGNED32 — Table 28: Entry Description (1011h ) 3.1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 3.1.13 23 / 117 Object 1016h : Consumer Heartbeat Time The consumer heartbeat time deﬁnes the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time conﬁgured on the module producing this heartbeat. The monitoring starts after the reception of the ﬁrst heartbeat. If the consumer heartbeat time is 0 the corresponding entry is not used.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 24 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED16 0 Table 37: Entry Description (1017h ) 3.1.15 Object 1018h : Identity Object The object 1018h contains general information about the device: • The vendor ID (sub-index 01h ) contains a unique value allocated to each manufacturer. The vendor ID of Trinamic is 286h .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 27 / 117 Entry Description Sub-index Description Access Value Range Default Value 00h Number of mapped application objects in PDO rw 0. . .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4 30 / 117 Manufacturer speciﬁc Area The manufacturer segment contains manufacturer speciﬁc objects. These objects control the special features of the Trinamic Motion Control device PD42-1241. 4.1 Objects related to coolStep Figure 6 shows an overview of the coolStep related objects for motor #0. Please bear in mind that the ﬁgure only shows one example for a drive.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 31 / 117 coolStep Adjustment Objects Object Name Description 2003h Absolute maximum current The maximum value is 255. This value means 100% of the maximum current of the module. The current adjustment is within the range 0. . . 255 and can be adjusted in 32 steps (0. . . 255 divided by eight; step 0 = 0. . . 7, step 1 = 8. . . 15 and so on).
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4.2 Detailed Object Speciﬁcations 4.2.1 Object 2000h : Microstep Resolution 32 / 117 This object sets the microstep resolution of the drive. A value of 8 selects 256 (28 ) microsteps per full step.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4.2.5 34 / 117 Object 2004h : Standby Current This object deﬁnes the current used when the motor is standing (two seconds after the last move). A value of 255 means 100% of the maximum current of the drive.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 35 / 117 Bit Deﬁnitions Bit Deﬁnition 0 Left limit switch deactivated if set. 1 Right limit switch deactivated if set. 2 Left limit switch inverted if set. 3 Right limit switch inverted if set. 4 Home switch deactivated if set. 5 Home switch inverted if set. 6 Shutdown input enabled if set. Table 63: Bit Deﬁnitions (2005h ) 4.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 36 / 117 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Not used rw no — — 2 Direction of rotation (external encoders only) rw no 0/1 0 3 Initialize position rw no 0/1 1 Table 67: Entry Description (200Bh ) 4.2.9 Object 200Ch : Brake Current Feed This object conﬁgures how much current has to be fed into the brake to apply and to release it.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 37 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 268435455 0 Table 71: Entry Description (2010h ) 4.2.11 Object 2011h : Proﬁle A1 This object contains the acceleration value used for ramping up from the start velocity (object 2011h , see section 4.2.10) to the velocity V1 (object (h 2012), see section 4.2.12).
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4.2.13 38 / 117 Object 2013h : Proﬁle D1 This object contains the deceleration value used for decelerating from the maximum positioning velocity to the velocity V1 (object 2012h , see section 4.2.12).
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 39 / 117 Object Description Index Name Object Type Data Type 2089h Setting Delay Variable UNSIGNED16 Table 80: Object Description (2089h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 400 0 Table 81: Entry Description (2089h ) 4.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 40 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0/179 179 Table 85: Entry Description (208Eh ) 4.2.18 Object 2092h : Chopper Blank Time This object serves for selecting the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is good.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4.2.20 41 / 117 Object 2094h : Chopper Hysteresis Decrement This object serves for the hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4.2.22 42 / 117 Object 2096h : Chopper Hysteresis Start This object provides the hysteresis start setting. Please notice that this value is an offset to the hysteresis end value.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 43 / 117 Object Description Index Name Object Type Data Type 2098h Smart Energy Current Minimum Variable UNSIGNED8 Table 98: Object Description (2098h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 99: Entry Description (2098h ) 4.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 44 / 117 Object Description Index Name Object Type Data Type 209Ah Smart Energy Hysteresis Variable UNSIGNED8 Table 102: Object Description (209Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 15 0 Table 103: Entry Description (209Ah ) 4.2.27 Object 209Bh : Smart Energy Current Up Step This object sets the current increment step.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 45 / 117 Object Description Index Name Object Type Data Type 209Ch Smart Energy Hysteresis Start Variable UNSIGNED8 Table 106: Object Description (209Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 15 0 Table 107: Entry Description (209Ch ) 4.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 46 / 117 Object Description Index Name Object Type Data Type 209Eh stallGuard2 Threshold Variable SIGNED8 Table 110: Object Description (209Eh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no -63. . . 63 0 Table 111: Entry Description (209Eh ) 4.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 47 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 2147483647 0 Table 115: Entry Description (20A4h ) 4.2.33 Object 20A5h : Smart Energy Threshold Speed The coolStep functionality will be enabled when the actual speed is above this speed. It will be disabled again when the actual speed drops below this value.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4.2.35 48 / 117 Object 20B1h : PWM Gradient Velocity dependent gradient for the PWM amplitude (stealthChop). Setting this value to 0 turns off stealthChop. Object Description Index Name Object Type Data Type 20B1h PWM Gradient Variable UNSIGNED8 Table 120: Object Description (20B1h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 49 / 117 Object Description Index Name Object Type Data Type 20B3h dcStep Minimum Speed Variable UNSIGNED32 Table 124: Object Description (20B3h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 16777215 0 Table 125: Entry Description (20B3h ) 4.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 50 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 255 0 Table 129: Entry Description (20B5h ) 4.2.40 Object 20B6h : Fullstep Threshold Speed Depending on the settings of objects 20B7h and 20B8h (see sections 4.2.41 and 4.2.42) the driver switches to fullstep mode and/or to a different chopper mode when the speed set by this object is exceeded.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 51 / 117 Object Description Index Name Object Type Data Type 20B8h High Speed Chopper Mode Variable UNSIGNED8 Table 134: Object Description (20B8h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 135: Entry Description (20B8h ) 4.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no -2147483648. . . 2147483647 0 Table 139: Entry Description (2100h ) 4.2.45 Object 2101h : Actual Load Value This object shows the home offset. The value is given in microsteps.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 53 / 117 Object Description Index Name Object Type Data Type 2102h Home Offset Display Variable UNSIGNED8 Table 143: Object Description (2102h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . . 255 0 Table 144: Entry Description (2102h ) 4.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 54 / 117 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Lower 32 Bits ro no 0. . . ffffffffh 0 2 Higher 32 Bits ro no 0. . . ffffffffh 0 3 64 Bit Value ro no 0. . . ffffffffffffffffh 0 Table 148: Entry Description (210Bh ) 4.2.49 Object 2121h : PWM Scale Value Actual PWM scale value used when the motor driver is operaing in stealthChop mode.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4.2.51 55 / 117 Object 2700h : TMCL Direct Communication After writing the make signature 656b616dh to this object the drive switches to TMCL mode. The drive can then only be controlled via TMCL commands written to the OS command object 1023/01h . The drive can only be reset to normal CANopen functionality using the DS-301 reset application command.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 4.2.53 56 / 117 Object 2702h : Device Digital Inputs Bits 23. . . 16 of this object reﬂect the states of the general purpose inputs of the module. The number of available inputs depends on the module type.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 57 / 117 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Physical outputs rw yes UNSIGNED32 0 2 Output mask rw yes UNSIGNED32 0 Table 162: Entry Description (2703h ) 4.2.55 Object 2704h : CAN Bit Rate With this object it is possible to change the CAN bit rate. To do this, ﬁrst write the new value to this object.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 58 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 1. . . 127 1 Table 166: Entry Description (2705)h How to change the node ID of a module: • Write new node ID to object 2705h . • Write save signature 65766173h to sub-index 1 of object 2706h . • Reset the module. 4.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 59 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 20. . . 1000 depends on bit rate Table 170: Entry Description (2707)h 4.2.59 Object 2708h : Node ID Load This object shows the selected node ID.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 Value Deﬁnition Value Description 0 All pull-up resistors off. 1 Pull-up resistor on for IN0/HOME. Pull-up resistors off for IN1/IN2. 2 Pull-up resistor off for IN0/HOME. Pull-up resistors on for IN1/IN2. 3 All pull-up resistors on.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 5 61 / 117 Proﬁle speciﬁc Area The proﬁle segment contains CiA-402 standard motion control objects. These objects control the motion control functions of the PD42-1241. Since it is not possible to operate the modes in parallel, the user is able to activate the required function by selecting a mode of operation.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 5.1.2 62 / 117 Object 605Bh : Shutdown Option Code This object indicates what action is performed if there is a transition from operation enabled state to ready to switch on state. The shutdown option code always has the value 0 as only this is supported.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 63 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 1 1 Table 186: Entry Description (605Ch ) 5.1.4 Object 605Dh : Halt Option Code This object indicates what action is performed when the halt function is executed. The slow down ramp is the deceleration value of the used mode of operation.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 64 / 117 Object Description Index Name Object Type Data Type 605Eh Fault reaction option code Variable UNSIGNED16 Table 191: Object Description (605Eh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 2 2 Table 192: Entry Description (605Eh ) 5.1.6 Object 6060h : Modes of Operation This object indicates the requested operation mode.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 5.1.7 65 / 117 Object 6061h : Modes of Operation Display This object shows the operating mode that is currently set. Value Deﬁnition Value Mode 0 No mode 1 Proﬁle position mode (pp) 3 Proﬁle velocity mode (pv) 6 Homing mode (hm) 8 Cyclic synchronous position mode (csp) Table 196: Value Description (6061h ) The motor will not run when the operating mode is set to 0.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 66 / 117 Object Description Index Name Object Type Data Type 606Ah Sensor selection code Variable SIGNED16 Table 200: Object Description (606Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/-1/-2 -1 Table 201: Entry Description (606Ah ) 5.1.9 Object 608Fh : Position Encoder Resolution This object deﬁnes the resolution of the encoder.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 67 / 117 Object Description Index Name Object Type Data Type 60FDh Digital inputs Variable UNSIGNED32 Table 204: Object Description (60FDh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw mappable UNSIGNED32 0 Table 205: Entry Description (60FDh ) 5.1.11 Object 6502h : Supported Drive Modes This object provides information on the supported drive modes.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no UNSIGNED32 Depends on supported modes. Table 208: Entry Description (6502h ) ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 6 69 / 117 Proﬁle Position Mode A target position is applied to the trajectory generator. It is generating a position demand value for the position control loop described in the position control function. Please refer to object 6060h (section 5.1.6) for information about how to choose an operation mode. Object 6061h (section 5.1.7) shows the operation mode that is set. 6.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 6.1.1 70 / 117 Object 6040h : Control Word This object indicates the received command controlling the power drive system ﬁnite state automaton (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to ﬁgure 8 for detailed information.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 71 / 117 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 212: Object Description (6040h in pp Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 213: Entry Description (6040h in pp Mode) 6.1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 72 / 117 Operation Mode speciﬁc Bits in pp Mode Bit Name Deﬁnition 10 Target reached Set when the motor is within the position window. 12 Set point acknowledged 0: Set point processed. 1: Set point still in process. 13 Following error Not supported.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 73 / 117 Object Description Index Name Object Type Data Type 6062h Position Demand Value Variable SIGNED32 Table 220: Object Description (6062h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 221: Entry Description (6062h ) 6.1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 74 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 225: Entry Description (6064h ) 6.1.6 Object 6065h : Following Error Window This object indicates the conﬁgured range of tolerated position values symmetrically to the position demand value.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 75 / 117 Object Description Index Name Object Type Data Type 6067h Position Window Variable UNSIGNED32 Table 228: Object Description (6067h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 FFFFFFFFh Table 229: Entry Description (6067h ) 6.1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 76 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 233: Entry Description (606Ch ) 6.1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 77 / 117 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Mininmum Position Limit rw no SIGNED32 -2147483648 2 Maximum Position Limit rw no SIGNED32 2147483647 Table 237: Entry Description (607Dh ) 6.1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 6.1.14 78 / 117 Object 6083h : Proﬁle Acceleration This object indicates the conﬁgured acceleration. Object 6083h sets the maximum acceleration to be used in proﬁle position and proﬁle velocity mode. The units for object 6083h can be choosen with object 208Eh , described in section 4.2.17.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 79 / 117 Object Description Index Name Object Type Data Type 6085h Quick stop deceleration Variable UNSIGNED32 Table 246: Object Description (6085h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 51200 Table 247: Entry Description (6085h ) 6.1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 6.2 80 / 117 How to move a Motor in pp Mode Here is a little example that shows how to get a motor running in pp mode. In this little example we assume that the module has been reset (and then switched to pre-operational or operational) by NMT commands before. Please note that the values are decimal.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 7 81 / 117 Proﬁle Velocity Mode The proﬁle velocity mode is used to control the velocity of the drive without a special regard of the position. It contains limit functions and trajectory generation. The proﬁle velocity mode covers the following sub-functions: • Demand value input via trajectory generator. • Monitoring of the proﬁle velocity using a window-function.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 Trinamic Speciﬁc Bits Bit Name Deﬁnition 14 Motor activity 0: Motor stands still. 1: Motor rotates. 15 Direction of rotation This bit shows the direction of rotation. Table 256: Trinamic Speciﬁc Bits Operation Mode speciﬁc Bits in pv Mode Bit Name Deﬁnition 10 Target reached Indicates that the target speed has been reached. 12 Speed Not supported. 13 Max. slippage error Not supported.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 84 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 260: Entry Description (6041h in pv Mode) 7.1.3 Object 6062h : Position Demand Value This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates the actual position that the motor should have.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 7.1.5 85 / 117 Object 6064h : Position Actual Value This object provides the actual value of the position measurement device. It always contains the same value as object 6063h .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 7.1.7 86 / 117 Object 606Ch : Velocity Actual Value This object shows the actual velocity value of the motor. The value is given in internal or user-deﬁned velocity units (depending on object 208Ch , described in section 4.2.16).
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 7.1.9 87 / 117 Object 6083h : Proﬁle Acceleration This object indicates the conﬁgured acceleration. Object 6083h sets the maximum acceleration to be used in proﬁle position and proﬁle velocity mode. The units for object 6083h can be choosen with object 208Eh , described in section 4.2.17.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 88 / 117 Object Description Index Name Object Type Data Type 60FFh Target Velocity Variable SIGNED32 Table 277: Object Description (60FFh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 SIGNED32 0 Table 278: Entry Description (60FFh ) 7.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 8 89 / 117 Homing Mode This chapter describes the method by which a drive seeks the home position (reference point). There are various methods of achieving this using limit switches at the ends of travel or a home switch in mid-travel. Some methods also use the index (zero) pulse train from an incremental encoder. The user may specify the speeds, acceleration and the method of homing.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 8.1 90 / 117 Homing Methods The PD42-1241 supports a subset of different standard CANopen homing methods. The homing method that is to be used can be choosen via object 6098h (section 8.2.5). Supported Homing Methods Method Description 0 No homing (default value for object 6098h ). 1 Search the left end switch, then search the next encoder index pulse.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 8.1.2 91 / 117 Homing Method 2: Homing on positive Limit Switch and Index Pulse Using this method, the initial direction of movement shall be rightward if the positive limit switch is inactive (here: low). The position of home shall be at the ﬁrst index pulse to the left of the position where the positive limit switch becomes inactive. 2 2 Index pulse Positive limit switch Figure 11: Homing Method 2 8.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 92 / 117 5 5 Index pulse Home switch Figure 13: Homing Method 5 8.1.5 Homing Method 17, 18, 19, and 21: Homing without Index Pulse These methods are similar to methods 1 to 5 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions. As an example, homing method 19 (which is similar to homing method 3) is shown in ﬁgure 14.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 93 / 117 33 34 Index pulse Figure 15: Homing Methods 33 and 34 8.1.7 Homing Method 35: Current Position as Home Position In this method, the current position shall be taken to be the home position. This method does not require the drive device to be in operation enabled state. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 8.2 8.2.1 94 / 117 Detailed Object Speciﬁcations Object 6040h : Control Word This object indicates the received command controlling the power drive system ﬁnite state automaton (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to ﬁgure 8 for detailed information.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 95 / 117 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 284: Object Description (6040h in hm Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 285: Entry Description (6040h in hm Mode) 8.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 96 / 117 Operation Mode speciﬁc Bits in hm Mode Bit Name Deﬁnition 10 Target reached Set when the zero position has been found or homing has been stopped by setting controlword bit 4 to zero. 12 Home attained Set when zero position has been found. 13 Homing error Not supported.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 97 / 117 Object Description Index Name Object Type Data Type 606Ch Velocity Actual Value Variable SIGNED32 Table 292: Object Description (606Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 293: Entry Description (606Ch ) 8.2.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 8.2.5 98 / 117 Object 6098h : Homing Method The homing method to be used can be selected by writing to this object. Please see table 279 for a list of homing methods supported by the current version of the PD42-1241 CANopen ﬁrmware.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 99 / 117 Object Description Index Name Object Type Data Type 609Ah Homing acceleration Variable UNSIGNED32 Table 300: Object Description (609Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 0 Table 301: Entry Description (609Ah ) 8.2.8 Object 2100h : Home Offset Display This object shows the home offset. The value is given in microsteps.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 • Write 31 to object 6040h to start the homing process. • Press and release the home switch. • When homing has ﬁnished, write 15 to object 6040h again. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 9 101 / 117 Cyclic synchonous Position Mode The cyclic synchronous position mode is used to directly control the position of the motor. It contains limit functions, but not a trajectory generator. The trajectory generator is located in the control device (the master), not in the drive device.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 Trinamic Speciﬁc Bits Bit Name Deﬁnition 14 Motor activity 0: Motor stands still. 1: Motor rotates. 15 Direction of rotation This bit shows the direction of rotation. Table 309: Trinamic Speciﬁc Bits Operation Mode speciﬁc Bits in csp Mode Bit Name Deﬁnition 10 Reserved Not used. 12 Target position ignored 0: Target position ignored. 1: Target position used as input to position controller.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 104 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 313: Entry Description (6041h in csp Mode) 9.1.3 Object 6062h : Position Demand Value This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates the actual position that the motor should have.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 9.1.5 105 / 117 Object 6064h : Position Actual Value This object provides the actual value of the position measurement device. It always contains the same value as object 6063h .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 106 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw Refer to CiA402-3 SIGNED32 0 Table 323: Entry Description (607Ah in csp Mode) 9.1.8 Object 607Dh : Software Position Limit This object indicates the conﬁgured maximal and minimal software position limits.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 107 / 117 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw yes -2147483648. . . 2147483647 0 Table 327: Entry Description (60B0h ) 9.1.10 Object 60C2h : Interpolation Time Period This object indicates the interpolation cycle time. The interpolation time period (sub-index 01h ) is given in 10interpolation_time_index s.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 10 108 / 117 Emergency Messages (EMCY) The module sends an emergency message if an error occurs. The message contains information about the error type. The module can map internal errors and object 1001h (error register) is part of every emergency object.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 Error code Additional byte 109 / 117 Description 1 2 3 4 5 8110h 1 255 0 0 0 CAN controller overﬂow The receive message buffer of the CAN controller hardware is full and some CAN messages are lost. 8110h 2 255 0 0 0 CAN Tx buffer overﬂow The software CAN transmit buffer is full and thus some CAN messages are lost.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 11 1 2 3 4 5 6 7 110 / 117 Figures Index stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . Energy Eﬃciency Example with coolStep NMT State Machine . . . . . . . . . . . Communication Architecture . . . . . Device Model . . . . . . . . . . . . . . coolStep Adjustment Points and Thresholds . . . . . . . . . . . . . . . . Brake Output Timing . . . . . . . . . .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 12 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 111 / 117 Tables Index Abbreviations used in this Manual Service Primitives . . . . . . . . . . Service Types . . . . . . . . . . . . Object Dictionary . . . . . . . . . . Object Description (1000h ) . . . . . Entry Description (1000h ) . . . . .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 Entry Description (209Bh ) . Object Description (209Ch ) Entry Description (209Ch ) . Object Description (209Dh ) Entry Description (209Dh ) . Object Description (209Eh ) .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 Object Description (6040h in pp Mode) Entry Description (6040h in pp Mode) Structure of the Staus Word in pp Mode Trinamic Speciﬁc Bits . . . . . . . . . .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 313 314 315 316 317 318 319 320 321 322 Entry Description (6041h in csp Mode) 104 Object Description (6062h ) . . . . . . . 104 Entry Description (6062h ) . . . . . . . 104 Object Description (6063h ) . . . . . . . 104 Entry Description (6063h ) . . . . . . . 104 Object Description (6064h ) . . . . . . . 105 Entry Description (6064h ) . . . . . . . 105 Object Description (606Ch ) . . . . . .
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 13 115 / 117 Supplemental Directives 13.1 Producer Information 13.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2018 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 116 / 117 or of any other nature are made hereunder with respect to information/speciﬁcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
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PD42-1241 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2018-MAY-03 14 Revision History 14.1 Firmware Revision Version Date Author Description V3.21 2018-MAY-03 OK First release. Table 331: Firmware Revision 14.2 Document Revision Version Date Author Description V1.00 2018-MAY-03 OK First release. Table 332: Document Revision ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.